Collision avoidance system for vehicle

ABSTRACT

A vehicular collision avoidance system includes a first image processor that processes image data captured by a forward-viewing camera to detect vehicles and determine vehicles present in the occupied lane and adjacent lane, and a second image processor that processes image data captured by a rearward-viewing camera to detect the presence of vehicles and determine vehicles present in the occupied lane and adjacent lane. Information relating to the vehicles is wirelessly transmitted between the vehicles. Responsive at least in part to at least one of (i) image processing of image data captured by the forward-viewing camera and/or rearward-viewing camera, (ii) sensor data sensed by at least one other sensor, and (iii) information transmitted to or from the equipped vehicle via the car2car (v2v) communication system, the collision avoidance system is operable to determine imminence of collision with the equipped vehicle by another vehicle present exterior the equipped vehicle.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 15/144,114, filed May 2, 2016, now U.S. Pat. No. 9,545,921,which is a continuation of U.S. patent application Ser. No. 14/248,602,filed Apr. 9, 2014, now U.S. Pat. No. 9,327,693, which claims the filingbenefits of U.S. provisional application Ser. No. 61/810,407, filed Apr.10, 2013, which is hereby incorporated herein by reference in itsentirety.

FIELD OF THE INVENTION

The present invention relates generally to a vehicle vision system and,more particularly, to a vehicle vision system that utilizes one or morecameras at the vehicle.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a collision avoidance system or visionsystem or imaging system for a vehicle that utilizes one or more cameras(preferably one or more CMOS cameras) to capture image datarepresentative of images exterior of the vehicle, and provides an alertto the driver of the vehicle and/or controls one or more functions orsystems of the vehicle responsive to a determination that a rearwardapproaching vehicle is likely to impact or collide with the subjectvehicle.

According to an aspect of the present invention, a collision avoidancesystem of a vehicle comprises a camera disposed at the equipped vehicle,with the camera having a field of view exterior of and rearward of theequipped vehicle. An image processor is operable to process image datacaptured by the camera. Responsive to image processing of captured imagedata, the collision avoidance system is operable to determine anapproach of another vehicle rearward of the equipped vehicle and todetermine an excitation level depending on (i) a difference between thespeed of the approaching vehicle and the speed of the equipped vehicleand (ii) a distance between the approaching vehicle and the equippedvehicle. Responsive to a determined excitation level, the collisionavoidance system is operable to at least one of (a) provide an alert tothe driver of the equipped vehicle (such as a visible and/or audiblealert), (b) provide an alert to the driver of the approaching vehicle(such as via control of one or more exterior lights of the equippedvehicle), (c) prepare the equipped vehicle for impact (such as viapretensioning of the seatbelts worn by the occupant or occupants of theequipped vehicle or via adjusting of the seats or headrests of theequipped vehicle), (d) control a braking system of the equipped vehicle,(e) control a steering system of the equipped vehicle and (f) control anacceleration system of the equipped vehicle. Responsive to a determinedexcitation level, the collision avoidance system is operable to at leastone of (i) provide or transmit or communicate an alert to the driver ofthe approaching vehicle via a telematics system and (ii) communicateinformation to the approaching vehicle via a telematics system (such assharing relative speed and distance information or data and determiningrespective collision avoidance paths for the equipped vehicle andapproaching vehicle).

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle equipped with a collision avoidancesystem of the present invention;

FIG. 2 shows Table 1, which shows which ‘Excitation Level’ may beengaged at which distances respectively to a speed difference; and

FIG. 3 shows Table 2, which shows the measures which the system may takeat the respective excitation levels shown in Table 1 of FIG. 2.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver assist system and/or objectdetection system and/or alert system operates to capture images exteriorof the vehicle and may process the captured image data to display imagesand to detect objects at or near the vehicle and in the predicted pathof the vehicle, such as to assist a driver of the vehicle in maneuveringthe vehicle in a rearward direction. The vision system includes an imageprocessor or image processing system that is operable to receive imagedata from one or more cameras and provide an output to a display devicefor displaying images representative of the captured image data.Optionally, the vision system may provide a top down or bird's eye orsurround view display and may provide a displayed image that isrepresentative of the subject vehicle, and optionally with the displayedimage being customized to at least partially correspond to the actualsubject vehicle.

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 includes an imaging system or vision system 12that includes at least one exterior facing imaging sensor or camera,such as a rearward facing imaging sensor or camera 14 a (and the systemmay optionally include multiple exterior facing imaging sensors orcameras, such as a forwardly facing camera 14 b at the front (or at thewindshield) of the vehicle, and a sidewardly/rearwardly facing camera 14c, 14 b at respective sides of the vehicle), which captures imagesexterior of the vehicle, with the camera having a lens for focusingimages at or onto an imaging array or imaging plane or imager of thecamera (FIG. 1). The vision system 12 includes a control or electroniccontrol unit (ECU) or processor 18 that is operable to process imagedata captured by the cameras and may provide displayed images at adisplay device 16 for viewing by the driver of the vehicle (althoughshown in FIG. 1 as being part of or incorporated in or at an interiorrearview mirror assembly 20 of the vehicle, the control and/or thedisplay device may be disposed elsewhere at or in the vehicle). The datatransfer or signal communication from the camera to the ECU may compriseany suitable data or communication link, such as a vehicle network busor the like of the equipped vehicle.

Common systems utilize forward directed sensors to detect vehiclesdriving in front of the subject or host or equipped vehicle in the samedirection and lane. The systems are set up to target a certain distancefrom the leading vehicle at which they stay during acceleration anddeceleration maneuvers of the leading vehicle ahead of the subjectvehicle. With such systems, the driver can focus on keeping the hostvehicle in its lane. This function is typically referred to as AdaptiveCruise Control (ACC).

Similar systems are provided to interact by warning and braking of thesubject or host or equipped vehicle when the driver is driving thevehicle (without following another vehicle in front) towards and closingto a leading vehicle or traffic ahead of the subject vehicle, where thetraffic may be standing still or moving much slower than the subjectvehicle (such as in a traffic jam or the like). This function istypically referred to as Brake Assist.

These known systems do not provide assistance to a driver of a vehiclethat is at the back end of a traffic jam with other vehicles behind thesubject vehicle and possibly closing at high speed. In such situations,the driver of the subject vehicle may not notice the rearward approachof another vehicle or may have to hope that the following drivers (ortheir Brake Assist systems) will brake early enough to come to a stopbefore a collision or impact with the subject vehicle occurs.

The present invention provides a rear collision warning and assistsystem that utilizes a rearward facing sensor or camera (and optionallya surround vision system or front and rear vision system, optionallyincluding rear depth and front depth sensors), and optionally utilizinga car2car (v2v) communication system or equipment or the like. Suchcar2car (v2v)/car2X (v2x) communication systems utilize telematics toenable wireless transmission of data from the equipped host vehicle toanother vehicle or car and/or to an infrastructural system (such as atraffic light control system or a traffic management system or thelike). Correspondingly, data may be telematically communicated to thehost equipped vehicle from other vehicles and/or from an infrastructuralsystem or the like. Such data may comprise the likes of trafficcondition data, traffic density data, weather data, road condition data(such as, for example, black ice ahead on the road being travelled)and/or the like.

In accordance with the present invention, the host equipped vehicle maytransmit an alert or warning that an immediately following other vehicleis tailgating and/or is in hazard of colliding with the host vehicle,and that warning may be transmitted via a car2car/car2x telematicssystem to the immediately following (tailgating) other vehicle, in orderto (i) alert the driver of that other vehicle to thetailgating/hazardous existing condition and/or (ii) control that othervehicle to mitigate or reduce the tailgating/hazardous condition.

The rear collision warning and assist system of the present invention isoperable to determine the difference in speed of the subject vehicle toa closing vehicle that is closing in on or approaching the subjectvehicle from rearward of the subject vehicle, and also determines thedistance from the subject vehicle to the rearward approaching vehicle.Based on such determinations, the rear collision warning and assistsystem tracks the incoming or rearward approaching vehicle, and maycalculate the deceleration ratio, and estimates whether the incoming orapproaching vehicle is likely to be able to come to a stop beforereaching the subject vehicle. If, based on such determinations, thesystem determines that an impact is likely or imminent or unavoidable,the system also determines how high the remaining difference speed atimpact would be and how much additional space the rearward approachingvehicle would need for stopping without impacting the subject vehicle.Responsive to such determinations, the rear collision warning and assistsystem may warn the driver of the subject vehicle of the potentiallyhazardous situation so that the driver may take appropriate action, orthe system may undertake pre-impact measures, such as seat beltpretension and/or adjusting the vehicle seats (such as the occupiedseats) to their upright position, and/or the like, and/or the system maycontrol the subject vehicle to accelerate the vehicle automatically toreduce or lower the impact speed and to give the rearward approachingvehicle additional space for braking and slowing/stopping, particularlywhen there is clearance in front of the subject vehicle.

Optionally, the rear collision warning and assist system mayadditionally sense or determine the situation at or in neighboring oradjacent lanes at or adjacent to the subject vehicle. The system mayintervene and control the subject vehicle (not just via the accelerator)by controlling a steering system or mechanism of the subject vehicle topull over or move the subject vehicle to another free or unoccupied lane(such as the breakdown lane or the like), such as in situations wherethe system determines that a rear impact by a rearward approachingvehicle is imminent or otherwise unavoidable. In such situations, therear collision warning and assist system may utilize collision avoidancepath planning methods based on influence mapping, such as by utilizingaspects of the systems described in U.S. patent application Ser. No.14/016,790, filed Sep. 9, 2013 and published Mar. 6, 2014 as U.S.Publication No. US-2014-0067206, which is hereby incorporated herein byreference in its entirety.

For improving the system's prediction abilities, the rear collisionwarning and assist system of the present invention may optionally set upand utilize a communication channel that both vehicles (the subjectvehicle and the rearward approaching vehicle) may seek and use toexchange vehicle speed and direction data and to determine and agree oncollision avoidance paths for both vehicles, such as discussed below.

As shown in Table 1 (FIG. 2), the rear collision warning and assistsystem may set an excitation level (or degree of hazard rating)responsive to a determination of approach speed (or difference or ratioof the approaching vehicle speed to the subject vehicle speed). Table 1shows which ‘Excitation Level’ may be engaged at which distancesrespectively to the speed difference ‘delta v’ (dv). Table 2 (FIG. 3)shows the measures which the system may take at the respectiveexcitation levels shown in Table 1.

For example, the columns ‘Display’, ‘Acoustical warning’ and ‘Opticalsignaling’ in Table 2 may be the basic realization in response to adetermination of a rearward approaching vehicle that may be likely toimpact the subject or equipped vehicle. For example, a visual alert ordisplay and/or an audible alert or acoustical warning may be provided toalert the driver of the subject vehicle that another vehicle isapproaching from the rear, and the degree of the warning may increase(such as more rapid flashing or louder tone or audible signal) as thedetermined excitation level increases (or as the approaching vehiclegets closer to the subject vehicle and is more likely to impact thesubject vehicle). Optionally, an optical signal or alert may be providedto alert drivers of other vehicles (including the driver of thedetermined rearward approaching vehicle) that the other vehicle isapproaching the subject vehicle from the rear and in a potentiallyunsafe manner, with the degree of the warning (such as differentexterior lights of the subject vehicle being activated or flashed, suchas activation or flashing of the braking lights, the turn signalindicators, the fog lights, the reversing or backup lights, theheadlights and/or the like) increasing as the determined excitationlevel increases.

Optionally, a ‘pre-crash intervention’ process may be provided, wherethe rear collision warning and assist system may, when the excitationlevel is determined to be relatively high, prepare the vehicle andpassengers for impact. For example, and as shown in Table 2, when theexcitation level is at 3, the system may bring the seats of the vehicleto an upright position, and when the excitation level is at 4 (which maybe indicative of an imminent collision or impact), the system maypretension the seat belt or seat belts and/or may adjust or deploy theheadrest or headrests, and/or may deploy a roll over bar or the like.

Optionally, and as also shown in Table 2, the rear collision warning andassist system of the present invention may include a ‘speedintervention’ process, where the system controls an accelerator orengine/transmission of the subject vehicle to start the engine and/oraccelerate moderately or quickly and/or to downshift to a lower gear toenhance acceleration, responsive to the determined excitation level orthe degree of the determined hazard. Optionally, and as also shown inTable 2, the rear collision warning and assist system may include a‘steering intervention’ process, such as in addition to the ‘speedintervention’ function, where the system determines the clearance aheadof the subject vehicle and sidewards of the subject vehicle and maydetermine evasion paths for the subject vehicle, and may control thesteering of the subject vehicle to follow a determined avoidance path orevasion path to avoid the rearward collision, responsive to thedetermined excitation level or the degree of the determined hazard. Suchspeed and steering intervention may be implemented when the excitationlevel reaches a threshold level, such as at level 2 or higher in Table2.

Optionally, and as also shown in Table 2, the rear collision warning andassist system of the present invention may provide a remote signalingfunction to signal or communicate with a system or systems of therearward approaching vehicle. For example, the rear collision warningand assist system may have or utilize a car-to-car or v2v communicationsystem (such as by utilizing aspects of the systems described in U.S.provisional applications, Ser. No. 61/912,146, filed Dec. 5, 2013; Ser.No. 61/947,638, filed Mar. 4, 2014; and/or Ser. No. 61/947,053, filedMar. 3, 2014, which are hereby incorporated herein by reference in theirentireties), whereby subject vehicle information or data and approachingvehicle information or data may be exchanged and appropriate measuresmay be taken to avoid or mitigate the collision or impact. For example,the system may, upon detection of a rearward approaching vehicle, seek a“hand shake” with a system of the approaching vehicle and exchange speedand deceleration rates with the system of the approaching vehicle. Asthe excitation level (or degree of hazard or potential collision)increases (such as to a threshold level, such as at level 2 or higher inTable 2), the system may request a brake intervention to the approachingvehicle's system to activate or control the brake system of theapproaching vehicle, with the requested degree of braking of theapproaching vehicle increasing as the hazard or likelihood of impactincreases.

Optionally, the systems of the respective vehicles may communicate todetermine and agree upon respective collision avoidance paths (where theapproaching vehicle may follow a path to one side or the other of theequipped vehicle or where the equipped vehicle may follow a path to oneside or the other, such as responsive to a determination of which pathor paths for the respective vehicles best avoids the collision of thevehicles), again depending on the determined excitation level or thedegree of the determined hazard and depending on the determinedavailable collision avoidance or collision mitigation paths of thevehicles. The systems thus may communicate or transfer vehicle inherentdata and intervention coordination strategies via the optional ‘remotesignaling’ function. Optionally, the system or systems may utilizeaspects of the systems described in U.S. patent application Ser. No.14/169,328, filed Jan. 31, 2014, now U.S. Pat. No. 9,092,986, which ishereby incorporated herein by reference in its entirety.

Therefore, the present invention provides a collision avoidance systemthat is operable to determine the presence of or approach of a rearwardvehicle and determine a degree of hazard or likelihood of rear impact ofthe determined rearward vehicle with respect to the subject or hostvehicle. The system may provide a visible and/or audible alert to thedriver of the subject vehicle and/or to the driver of the approachingvehicle responsive to a determined degree of hazard or excitation level,and may control one or more systems (such as a braking system and/orsteering system and/or acceleration system) of the subject vehicle toavoid or minimize or mitigate the collision or impact, depending on thedetermined degree of hazard or excitation level. Optionally, the systemmay communicate with the rearward approaching vehicle to control one ormore systems of the approaching vehicle to avoid or minimize or mitigatethe collision or impact, depending on the determined degree of hazard orexcitation level.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2013/081984 and/or WO 2013/081985,which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise anEyeQ2 or EyeQ3 image processing chip available from Mobileye VisionTechnologies Ltd. of Jerusalem, Israel, and may include object detectionsoftware (such as the types described in U.S. Pat. Nos. 7,855,755;7,720,580 and/or 7,038,577, which are hereby incorporated herein byreference in their entireties), and may analyze image data to detectvehicles and/or other objects. Responsive to such image processing, andwhen an object or other vehicle is detected, the system may generate analert to the driver of the vehicle and/or may generate an overlay at thedisplayed image to highlight or enhance display of the detected objector vehicle, in order to enhance the driver's awareness of the detectedobject or vehicle or hazardous condition during a driving maneuver ofthe equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, a two dimensional array of a plurality ofphotosensor elements arranged in at least 640 columns and 480 rows (atleast a 640×480 imaging array, such as a megapixel imaging array or thelike), with a respective lens focusing images onto respective portionsof the array. The photosensor array may comprise a plurality ofphotosensor elements arranged in a photosensor array having rows andcolumns. Preferably, the imaging array has at least 300,000 photosensorelements or pixels, more preferably at least 500,000 photosensorelements or pixels and more preferably at least 1 million photosensorelements or pixels. The imaging array may capture color image data, suchas via spectral filtering at the array, such as via an RGB (red, greenand blue) filter or via a red/red complement filter or such as via anRCC (red, clear, clear) filter or the like. The logic and controlcircuit of the imaging sensor may function in any known manner, and theimage processing and algorithmic processing may comprise any suitablemeans for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 7,005,974;5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545;6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268;6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563;6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519;7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928;7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772,and/or International Publication Nos. 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No. 61/840,542, filed Jun. 28, 2013; Ser. No. 61/838,619, filedJun. 24, 2013; Ser. No. 61/838,621, filed Jun. 24, 2013; Ser. No.61/837,955, filed Jun. 21, 2013; Ser. No. 61/836,900, filed Jun. 19,2013; Ser. No. 61/836,380, filed Jun. 18, 2013; Ser. No. 61/833,080,filed Jun. 10, 2013; Ser. No. 61/830,375, filed Jun. 3, 2013; Ser. No.61/830,377, filed Jun. 3, 2013; Ser. No. 61/825,752, filed May 21, 2013;Ser. No. 61/825,753, filed May 21, 2013; Ser. No. 61/823,648, filed May15, 2013; Ser. No. 61/823,644, filed May 15, 2013; Ser. No. 61/821,922,filed May 10, 2013; Ser. No. 61/819,835, filed May 6, 2013; Ser. No.61/819,033, filed May 3, 2013; Ser. No. 61/816,956, filed Apr. 29, 2013;Ser. No. 61/815,044, filed Apr. 23, 2013; Ser. No. 61/814,533, filedApr. 22, 2013; and/or Ser. No. 61/813,361, filed Apr. 18, 2013, whichare all hereby incorporated herein by reference in their entireties. Thesystem may communicate with other communication systems via any suitablemeans, such as by utilizing aspects of the systems described inInternational Publication Nos. WO 2010/144900; WO 2013/043661 and/or WO2013/081985, and/or U.S. patent application Ser. No. 13/202,005, filedAug. 17, 2011, now U.S. Pat. No. 9,126,525, which are herebyincorporated herein by reference in their entireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras and vision systemsdescribed in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,937,667;7,123,168; 7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176;6,313,454 and 6,824,281, and/or International Publication Nos. WO2010/099416; WO 2011/028686 and/or WO 2013/016409, and/or U.S. patentapplication Ser. No. 12/508,840, filed Jul. 24, 2009 and published Jan.28, 2010 as U.S. Pat. Publication No. US-2010-0020170, and/or U.S.patent application Ser. No. 13/534,657, filed Jun. 27, 2012 andpublished Jan. 3, 2013 as U.S. Publication No. US-2013-0002873, whichare all hereby incorporated herein by reference in their entireties. Thecamera or cameras may comprise any suitable cameras or imaging sensorsor camera modules, and may utilize aspects of the cameras or sensorsdescribed in U.S. patent applications, Ser. No. 12/091,359, filed Apr.24, 2008 and published Oct. 1, 2009 as U.S. Publication No.US-2009-0244361; and/or Ser. No. 13/260,400, filed Sep. 26, 2011, nowU.S. Pat. No. 8,542,451, and/or U.S. Pat. Nos. 7,965,336 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties. The imaging array sensor may comprise any suitable sensor,and may utilize various imaging sensors or imaging array sensors orcameras or the like, such as a CMOS imaging array sensor, a CCD sensoror other sensors or the like, such as the types described in U.S. Pat.Nos. 5,550,677; 5,670,935; 5,760,962; 5,715,093; 5,877,897; 6,922,292;6,757,109; 6,717,610; 6,590,719; 6,201,642; 6,498,620; 5,796,094;6,097,023; 6,320,176; 6,559,435; 6,831,261; 6,806,452; 6,396,397;6,822,563; 6,946,978; 7,339,149; 7,038,577; 7,004,606; 7,720,580 and/or7,965,336, and/or International Publication Nos. WO 2009/036176 and/orWO 2009/046268, which are all hereby incorporated herein by reference intheir entireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103,which are all hereby incorporated herein by reference in theirentireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties, a vehicle vision system, such as a forwardly, sidewardly orrearwardly directed vehicle vision system utilizing principles disclosedin U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all herebyincorporated herein by reference in their entireties, a trailer hitchingaid or tow check system, such as the type disclosed in U.S. Pat. No.7,005,974, which is hereby incorporated herein by reference in itsentirety, a reverse or sideward imaging system, such as for a lanechange assistance system or lane departure warning system or for a blindspot or object detection system, such as imaging or detection systems ofthe types disclosed in U.S. Pat. Nos. 7,720,580; 7,038,577; 5,929,786and/or 5,786,772, and/or U.S. pat. application Ser. No. 11/239,980,filed Sep. 30, 2005, now U.S. Pat. No. 7,881,496, and/or U.S.provisional applications, Ser. No. 60/628,709, filed Nov. 17, 2004; Ser.No. 60/614,644, filed Sep. 30, 2004; Ser. No. 60/618,686, filed Oct. 14,2004; Ser. No. 60/638,687, filed Dec. 23, 2004, which are herebyincorporated herein by reference in their entireties, a video device forinternal cabin surveillance and/or video telephone function, such asdisclosed in U.S. Pat. Nos. 5,760,962; 5,877,897; 6,690,268 and/or7,370,983, and/or U.S. Publication No. US-2006-0050018, which are herebyincorporated herein by reference in their entireties, a traffic signrecognition system, a system for determining a distance to a leading ortrailing vehicle or object, such as a system utilizing the principlesdisclosed in U.S. Pat. Nos. 6,396,397 and/or 7,123,168, which are herebyincorporated herein by reference in their entireties, and/or the like.

Optionally, the circuit board or chip may include circuitry for theimaging array sensor and or other electronic accessories or features,such as by utilizing compass-on-a-chip or EC driver-on-a-chip technologyand aspects such as described in U.S. Pat. No. 7,255,451 and/or U.S.Pat. No. 7,480,149; and/or U.S. Publication No. US-2006-0061008 and/orU.S. patent application Ser. No. 12/578,732, filed Oct. 14, 2009 andpublished Apr. 22, 2010 as U.S. Publication No. US-2010-0097469, whichare hereby incorporated herein by reference in their entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device disposed at or in the interior rearview mirror assemblyof the vehicle, such as by utilizing aspects of the video mirror displaysystems described in U.S. Pat. No. 6,690,268 and/or U.S. patentapplication Ser. No. 13/333,337, filed Dec. 21, 2011, now U.S. Pat. No.9,264,672, which are hereby incorporated herein by reference in theirentireties. The video mirror display may comprise any suitable devicesand systems and optionally may utilize aspects of the compass displaysystems described in U.S. Pat. Nos. 7,370,983; 7,329,013; 7,308,341;7,289,037; 7,249,860; 7,004,593; 4,546,551; 5,699,044; 4,953,305;5,576,687; 5,632,092; 5,677,851; 5,708,410; 5,737,226; 5,802,727;5,878,370; 6,087,953; 6,173,508; 6,222,460; 6,513,252 and/or 6,642,851,and/or European patent application, published Oct. 11, 2000 underPublication No. EP 0 1043566, and/or U.S. Publication No.US-2006-0061008, which are all hereby incorporated herein by referencein their entireties. Optionally, the video mirror display screen ordevice may be operable to display images captured by a rearward viewingcamera of the vehicle during a reversing maneuver of the vehicle (suchas responsive to the vehicle gear actuator being placed in a reversegear position or the like) to assist the driver in backing up thevehicle, and optionally may be operable to display the compass headingor directional heading character or icon when the vehicle is notundertaking a reversing maneuver, such as when the vehicle is beingdriven in a forward direction along a road (such as by utilizing aspectsof the display system described in International Publication No. WO2012/051500, which is hereby incorporated herein by reference in itsentirety).

Optionally, the vision system (utilizing the forward facing camera and arearward facing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or birds-eye view system of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed in International Publication Nos. WO 2010/099416; WO2011/028686; WO 2012/075250; WO 2013/019795; WO 2012/075250; WO2012/145822; WO 2013/081985; WO 2013/086249 and/or WO 2013/109869,and/or U.S. patent application Ser. No. 13/333,337, filed Dec. 21, 2011,now U.S. Pat. No. 9,264,672, which are hereby incorporated herein byreference in their entireties.

Optionally, a video mirror display may be disposed rearward of andbehind the reflective element assembly and may comprise a display suchas the types disclosed in U.S. Pat. Nos. 5,530,240; 6,329,925;7,855,755; 7,626,749; 7,581,859; 7,446,650; 7,370,983; 7,338,177;7,274,501; 7,255,451; 7,195,381; 7,184,190; 5,668,663; 5,724,187 and/or6,690,268, and/or in U.S. Publication Nos. US-2006-0061008 and/orUS-2006-0050018, which are all hereby incorporated herein by referencein their entireties. The display is viewable through the reflectiveelement when the display is activated to display information. Thedisplay element may be any type of display element, such as a vacuumfluorescent (VF) display element, a light emitting diode (LED) displayelement, such as an organic light emitting diode (OLED) or an inorganiclight emitting diode, an electroluminescent (EL) display element, aliquid crystal display (LCD) element, a video screen display element orbacklit thin film transistor (TFT) display element or the like, and maybe operable to display various information (as discrete characters,icons or the like, or in a multi-pixel manner) to the driver of thevehicle, such as passenger side inflatable restraint (PSIR) information,tire pressure status, and/or the like. The mirror assembly and/ordisplay may utilize aspects described in U.S. Pat. Nos. 7,184,190;7,255,451; 7,446,924 and/or 7,338,177, which are all hereby incorporatedherein by reference in their entireties. The thicknesses and materialsof the coatings on the substrates of the reflective element may beselected to provide a desired color or tint to the mirror reflectiveelement, such as a blue colored reflector, such as is known in the artand such as described in U.S. Pat. Nos. 5,910,854; 6,420,036 and/or7,274,501, which are hereby incorporated herein by reference in theirentireties.

Optionally, the display or displays and any associated user inputs maybe associated with various accessories or systems, such as, for example,a tire pressure monitoring system or a passenger air bag status or agarage door opening system or a telematics system or any other accessoryor system of the mirror assembly or of the vehicle or of an accessorymodule or console of the vehicle, such as an accessory module or consoleof the types described in U.S. Pat. Nos. 7,289,037; 6,877,888;6,824,281; 6,690,268; 6,672,744; 6,386,742 and/or 6,124,886, and/or U.S.Publication No. US-2006-0050018, which are hereby incorporated herein byreference in their entireties.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

1. A collision avoidance system suitable for use in a vehicle, saidcollision avoidance system comprising: a forward-viewing camera disposedat a vehicle equipped with said collision avoidance system, saidforward-viewing camera having a field of view forward of the equippedvehicle; wherein the field of view of said forward-viewing camera atleast encompasses (i) a traffic lane the equipped vehicle is driving inand (ii) an adjacent traffic lane that is adjacent to the traffic lanethe equipped vehicle is driving in; a first image processor operable toprocess image data captured by said forward-viewing camera; wherein,responsive at least in part to image processing by said first imageprocessor of image data captured by said forward-viewing camera, saidcollision avoidance system detects the presence of vehicles presentahead of the equipped vehicle; wherein, responsive at least in part toimage processing by said first image processor of image data captured bysaid forward-viewing camera, said collision avoidance system is operableto determine a detected vehicle to be present in the traffic lane theequipped vehicle is driving in; wherein, responsive at least in part toimage processing by said first image processor of image data captured bysaid forward-viewing camera, said collision avoidance system is operableto determine a detected vehicle to be present in an adjacent trafficlane that is adjacent to the traffic lane the equipped vehicle isdriving in; a plurality of other sensors disposed at the equippedvehicle; wherein said plurality of other sensors sense at leastforwardly and sidewardly of the equipped vehicle; wherein said pluralityof other sensors capture sensor data; a rearward-viewing camera disposedat the equipped vehicle, said rearward-viewing camera having a field ofview rearward of the equipped vehicle; wherein the field of view of saidrearward-viewing camera encompasses (i) the traffic lane the equippedvehicle is driving in and (ii) an adjacent traffic lane that is adjacentto the traffic lane the equipped vehicle is driving in; a second imageprocessor operable to process image data captured by saidrearward-viewing camera; wherein, responsive at least in part to imageprocessing by said second image processor of image data captured by saidrearward-viewing camera, said collision avoidance system detects thepresence of vehicles present rearward of the equipped vehicle; wherein,responsive at least in part to image processing by said second imageprocessor of image data captured by said rearward-viewing camera, saidcollision avoidance system is operable to determine a detected vehicleto be present in the traffic lane the equipped vehicle is driving in;wherein, responsive at least in part to image processing by said secondimage processor of image data captured by said rearward-viewing camera,said collision avoidance system is operable to determine a detectedvehicle to be present in an adjacent traffic lane that is adjacent tothe traffic lane the equipped vehicle is driving in; wherein informationrelating to other vehicles present exterior the equipped vehicle iswirelessly transmitted to the equipped vehicle via a car2car (v2v)communication system; wherein information relating to the equippedvehicle is wirelessly transmitted to other vehicles present exterior theequipped vehicle via the car2car (v2v) communication system; andwherein, responsive at least in part to at least one of (i) imageprocessing by said first image processor of image data captured by saidforward-viewing camera, (ii) image processing by said second imageprocessor of image data captured by said rearward-viewing camera, (iii)radar data sensed by at least one radar sensor of said plurality ofother sensors, (iv) lidar data sensed by at least one lidar sensor ofsaid plurality of other sensors and (v) information transmitted to orfrom the equipped vehicle via the car2car (v2v) communication system,said collision avoidance system is operable to determine imminence ofcollision with the equipped vehicle by another vehicle present exteriorthe equipped vehicle.
 2. The collision avoidance system of claim 1,wherein the other vehicle present exterior the equipped vehiclecomprises an immediately following other vehicle.
 3. The collisionavoidance system of claim 2, wherein the immediately following othervehicle is tailgating the equipped vehicle.
 4. The collision avoidancesystem of claim 1, wherein, responsive at least in part to informationtransmitted to or from the equipped vehicle via the car2car (v2v)communication system, a braking system of the equipped vehicle iscontrolled.
 5. The collision avoidance system of claim 4, wherein,responsive at least in part to information transmitted to or from theequipped vehicle via the car2car (v2v) communication system, a steeringsystem of the equipped vehicle is controlled.
 6. The collision avoidancesystem of claim 1, wherein said collision avoidance system determines(i) a difference between the speed of an approaching vehicle and thespeed of the equipped vehicle and (ii) a distance between theapproaching vehicle and the equipped vehicle, and wherein, responsive atleast in part to a difference between the speed of the approachingvehicle and the speed of the equipped vehicle being such that acollision is imminent, said collision avoidance system prepares theequipped vehicle for collision.
 7. The collision avoidance system ofclaim 6, wherein said collision avoidance system prepares the equippedvehicle for collision by pretensioning a seat belt of the equippedvehicle.
 8. The collision avoidance system of claim 7, wherein saidcollision avoidance system prepares the equipped vehicle for collisionby adjusting a seat of the equipped vehicle.
 9. The collision avoidancesystem of claim 6, wherein said collision avoidance system is operableto wirelessly communicate via the car2car (v2v) communication system tothe approaching vehicle a request to control a vehicle system of theapproaching vehicle.
 10. The collision avoidance system of claim 9,wherein said vehicle system of the approaching vehicle comprises a brakesystem of the approaching vehicle.
 11. The collision avoidance system ofclaim 1, wherein said collision avoidance system is operable tocommunicate via the car2car (v2v) communication system with the othervehicle present exterior the equipped vehicle to determine respectivecollision avoidance paths for the vehicles.
 12. The collision avoidancesystem of claim 1, wherein said collision avoidance system is operable,responsive at least in part to a communication wirelessly communicatedto the equipped vehicle via the car2car (v2v) communication system to atleast one of (a) control a braking system of the equipped vehicle, (b)control a steering system of the equipped vehicle and (c) control anacceleration system of the equipped vehicle.
 13. The collision avoidancesystem of claim 1, wherein said forward-viewing camera is a component ofan adaptive cruise control system of the equipped vehicle.
 14. Thecollision avoidance system of claim 1, wherein, responsive at least inpart to determination by said collision avoidance system of imminence ofcollision with the equipped vehicle by the other vehicle presentexterior the equipped vehicle, said collision avoidance systemdetermines an evasive path to avoid collision with the other vehicle.15. The collision avoidance system of claim 14, wherein said collisionavoidance system controls a steering system of the equipped vehicle tomove the equipped vehicle along the determined evasive path.
 16. Thecollision avoidance system of claim 15, wherein said collision avoidancesystem controls the steering system of the equipped vehicle to move theequipped vehicle into an adjacent traffic lane that is adjacent to thetraffic lane the equipped vehicle is driving in.
 17. The collisionavoidance system of claim 1, wherein said first image processor and saidsecond image processor comprise a common image processor.
 18. Thecollision avoidance system of claim 17, wherein, responsive at least inpart to information transmitted to or from the equipped vehicle via thecar2car (v2v) communication system, and responsive at least in part toat least one of (i) image processing by said common image processor ofimage data captured by said forward-viewing camera and (ii) imageprocessing by said common image processor of image data captured by saidrearward-viewing camera, said collision avoidance system is operable todetermine imminence of collision with the equipped vehicle by anothervehicle present exterior the equipped vehicle.
 19. The collisionavoidance system of claim 18, wherein, responsive at least in part to atleast one of (i) radar data sensed by at least one radar sensor of saidplurality of other sensors and (ii) lidar data sensed by at least onelidar sensor of said plurality of other sensors, said collisionavoidance system is operable to determine imminence of collision withthe equipped vehicle by another vehicle present exterior the equippedvehicle
 20. A collision avoidance system suitable for use in a vehicle,said collision avoidance system comprising: a forward-viewing cameradisposed at a vehicle equipped with said collision avoidance system,said forward-viewing camera having a field of view forward of theequipped vehicle; wherein the field of view of said forward-viewingcamera at least encompasses (i) a traffic lane the equipped vehicle isdriving in and (ii) an adjacent traffic lane that is adjacent to thetraffic lane the equipped vehicle is driving in; an image processoroperable to process image data captured by said forward-viewing camera;wherein, responsive at least in part to image processing by said imageprocessor of image data captured by said forward-viewing camera, saidcollision avoidance system detects the presence of vehicles presentahead of the equipped vehicle; wherein, responsive at least in part toimage processing by said image processor of image data captured by saidforward-viewing camera, said collision avoidance system is operable todetermine a detected vehicle to be present in the traffic lane theequipped vehicle is driving in; wherein, responsive at least in part toimage processing by said image processor of image data captured by saidforward-viewing camera, said collision avoidance system is operable todetermine a detected vehicle to be present in an adjacent traffic lanethat is adjacent to the traffic lane the equipped vehicle is driving in;a plurality of other sensors disposed at the equipped vehicle; whereinsaid plurality of other sensors sense at least forwardly and sidewardlyof the equipped vehicle; wherein said plurality of other sensors capturesensor data; a rearward-viewing camera disposed at the equipped vehicle,said rearward-viewing camera having a field of view rearward of theequipped vehicle; wherein the field of view of said rearward-viewingcamera encompasses (i) the traffic lane the equipped vehicle is drivingin and (ii) an adjacent traffic lane that is adjacent to the trafficlane the equipped vehicle is driving in; wherein said image processor isoperable to process image data captured by said rearward-viewing camera;wherein, responsive at least in part to image processing by said imageprocessor of image data captured by said rearward-viewing camera, saidcollision avoidance system detects the presence of vehicles presentrearward of the equipped vehicle; wherein, responsive at least in partto image processing by said image processor of image data captured bysaid rearward-viewing camera, said collision avoidance system isoperable to determine a detected vehicle to be present in the trafficlane the equipped vehicle is driving in; wherein, responsive at least inpart to image processing by said image processor of image data capturedby said rearward-viewing camera, said collision avoidance system isoperable to determine a detected vehicle to be present in an adjacenttraffic lane that is adjacent to the traffic lane the equipped vehicleis driving in; wherein information relating to other vehicles presentexterior the equipped vehicle is wirelessly transmitted to the equippedvehicle via a car2car (v2v) communication system; wherein informationrelating to the equipped vehicle is wirelessly transmitted to othervehicles present exterior the equipped vehicle via the car2car (v2v)communication system; wherein, responsive at least in part to at leastone of (i) image processing by said image processor of image datacaptured by said forward-viewing camera, (ii) image processing by saidimage processor of image data captured by said rearward-viewing camera,(iii) sensor data sensed by said plurality of other sensors and (iv)information transmitted to or from the equipped vehicle via the car2car(v2v) communication system, said collision avoidance system is operableto determine imminence of collision with the equipped vehicle by anothervehicle present exterior the equipped vehicle; wherein the other vehiclepresent exterior the equipped vehicle comprises one of (i) a followingother vehicle rearward of the equipped vehicle and (ii) an approachingother vehicle forward of the equipped vehicle; wherein, responsive atleast in part to determination by said collision avoidance system ofimminence of collision with the equipped vehicle by the other vehiclepresent exterior the equipped vehicle, said collision avoidance systemdetermines an evasive path to avoid collision with the other vehicle;and wherein said collision avoidance system controls a steering systemof the equipped vehicle to move the equipped vehicle along thedetermined evasive path.
 21. The collision avoidance system of claim 20,wherein, responsive at least in part to information transmitted to orfrom the equipped vehicle via the car2car (v2v) communication system, abraking system of the equipped vehicle is controlled.
 22. The collisionavoidance system of claim 20, wherein, responsive at least in part toinformation transmitted to or from the equipped vehicle via the car2car(v2v) communication system, a steering system of the equipped vehicle iscontrolled.
 23. The collision avoidance system of claim 20, wherein saidcollision avoidance system is operable to wirelessly communicate via thecar2car (v2v) communication system to the other vehicle a request tocontrol a vehicle system of the other vehicle.
 24. The collisionavoidance system of claim 23, wherein said vehicle system of the othervehicle comprises a brake system of the other vehicle.
 25. The collisionavoidance system of claim 20, wherein said collision avoidance system isoperable to communicate via the car2car (v2v) communication system withthe other vehicle present exterior the equipped vehicle to determinerespective collision avoidance paths for the vehicles.
 26. The collisionavoidance system of claim 20, wherein said collision avoidance system isoperable, responsive at least in part to communication wirelesslycommunicated to the equipped vehicle via the car2car (v2v) communicationsystem, to at least one of (a) control a braking system of the equippedvehicle, (b) control a steering system of the equipped vehicle and (c)control an acceleration system of the equipped vehicle.
 27. Thecollision avoidance system of claim 26, wherein said forward-viewingcamera is a component of an adaptive cruise control system of theequipped vehicle.
 28. The collision avoidance system of claim 26,wherein the equipped vehicle and the other vehicle present exterior theequipped vehicle exchange vehicle speed and direction data via thecar2car (v2v) communication system.
 29. The collision avoidance systemof claim 20, wherein the equipped vehicle and the other vehicle presentexterior the equipped vehicle exchange vehicle data via the car2car(v2v) communication system, and wherein, responsive at least in part toexchanged vehicle data wirelessly communicated via the car2car (v2v)communication system, the equipped vehicle and the other vehicle presentexterior the equipped vehicle each determine respective collisionavoidance paths.
 30. The collision avoidance system of claim 29, whereinsaid plurality of other sensors comprises at least one radar sensor. 31.The collision avoidance system of claim 30, wherein said plurality ofother sensors comprises at least one lidar sensor.
 32. A collisionavoidance system suitable for use in a vehicle, said collision avoidancesystem comprising: a forward-viewing camera disposed at a vehicleequipped with said collision avoidance system, said forward-viewingcamera having a field of view forward of the equipped vehicle; whereinthe field of view of said forward-viewing camera at least encompasses(i) a traffic lane the equipped vehicle is driving in and (ii) anadjacent traffic lane that is adjacent to the traffic lane the equippedvehicle is driving in; an image processor operable to process image datacaptured by said forward-viewing camera; wherein, responsive at least inpart to image processing by said image processor of image data capturedby said forward-viewing camera, said collision avoidance system detectsthe presence of vehicles present ahead of the equipped vehicle; wherein,responsive at least in part to image processing by said image processorof image data captured by said forward-viewing camera, said collisionavoidance system is operable to determine a detected vehicle to bepresent in the traffic lane the equipped vehicle is driving in; wherein,responsive at least in part to image processing by said image processorof image data captured by said forward-viewing camera, said collisionavoidance system is operable to determine a detected vehicle to bepresent in an adjacent traffic lane that is adjacent to the traffic lanethe equipped vehicle is driving in; a plurality of other sensorsdisposed at the equipped vehicle; wherein said plurality of othersensors sense at least forwardly and sidewardly of the equipped vehicle;wherein said plurality of other sensors capture sensor data; arearward-viewing camera disposed at the equipped vehicle, saidrearward-viewing camera having a field of view rearward of the equippedvehicle; wherein the field of view of said rearward-viewing cameraencompasses (i) the traffic lane the equipped vehicle is driving in and(ii) an adjacent traffic lane that is adjacent to the traffic lane theequipped vehicle is driving in; wherein said image processor is operableto process image data captured by said rearward-viewing camera; wherein,responsive at least in part to image processing by said image processorof image data captured by said rearward-viewing camera, said collisionavoidance system detects the presence of vehicles present rearward ofthe equipped vehicle; wherein, responsive at least in part to imageprocessing by said image processor of image data captured by saidrearward-viewing camera, said collision avoidance system is operable todetermine a detected vehicle to be present in the traffic lane theequipped vehicle is driving in; wherein, responsive at least in part toimage processing by said image processor of image data captured by saidrearward-viewing camera, said collision avoidance system is operable todetermine a detected vehicle to be present in an adjacent traffic lanethat is adjacent to the traffic lane the equipped vehicle is driving in;wherein information relating to other vehicles present exterior theequipped vehicle is wirelessly transmitted to the equipped vehicle via acar2car (v2v) communication system; wherein information relating to theequipped vehicle is wirelessly transmitted to other vehicles presentexterior the equipped vehicle via the car2car (v2v) communicationsystem; wherein, responsive at least in part to at least one of (i)image processing by said image processor of image data captured by saidforward-viewing camera, (ii) image processing by said image processor ofimage data captured by said rearward-viewing camera, (iii) sensor datasensed by said plurality of other sensors and (iv) informationtransmitted to or from the equipped vehicle via the car2car (v2v)communication system, said collision avoidance system is operable todetermine imminence of collision with the equipped vehicle by anothervehicle present exterior the equipped vehicle; wherein the equippedvehicle and the other vehicle present exterior the equipped vehicleexchange vehicle data via the car2car (v2v) communication system; andwherein, responsive at least in part to exchanged vehicle datawirelessly communicated via the car2car (v2v) communication system, theequipped vehicle and the other vehicle present exterior the equippedvehicle each determine respective collision avoidance paths.
 33. Thecollision avoidance system of claim 32, wherein the equipped vehicle andthe other vehicle present exterior the equipped vehicle exchange vehiclespeed and direction data via the car2car (v2v) communication system. 34.The collision avoidance system of claim 33, wherein said forward-viewingcamera is a component of an adaptive cruise control system of theequipped vehicle.
 35. The collision avoidance system of claim 33,wherein, responsive at least in part to information transmitted to orfrom the equipped vehicle via the car2car (v2v) communication system, abraking system of the equipped vehicle is controlled.
 36. The collisionavoidance system of claim 35, wherein, responsive at least in part toinformation transmitted to or from the equipped vehicle via the car2car(v2v) communication system, a steering system of the equipped vehicle iscontrolled.
 37. The collision avoidance system of claim 32, wherein saidcollision avoidance system is operable to wirelessly communicate via thecar2car (v2v) communication system to the other vehicle a request tocontrol a vehicle system of the other vehicle.
 38. The collisionavoidance system of claim 37, wherein said vehicle system of the othervehicle comprises a brake system of the other vehicle.
 39. The collisionavoidance system of claim 32, wherein said collision avoidance system isoperable, responsive at least in part to communication wirelesslycommunicated to the equipped vehicle via the car2car (v2v) communicationsystem, to at least one of (a) control a braking system of the equippedvehicle, (b) control a steering system of the equipped vehicle and (c)control an acceleration system of the equipped vehicle.
 40. Thecollision avoidance system of claim 39, wherein said plurality of othersensors comprises at least one radar sensor.
 41. The collision avoidancesystem of claim 40, wherein said plurality of other sensors comprises atleast one lidar sensor.
 42. The collision avoidance system of claim 32,wherein, responsive at least in part to determination by said collisionavoidance system of imminence of collision with the equipped vehicle bythe other vehicle present exterior the equipped vehicle, said collisionavoidance system determines an evasive path to avoid collision with theother vehicle.
 43. The collision avoidance system of claim 42, whereinsaid collision avoidance system controls a steering system of theequipped vehicle to move the equipped vehicle along the determinedevasive path.